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Advancing whisker based navigation through the implementation of bio-inspired whisking strategies

Salman, M; Pearson, Martin

Authors

M Salman



Abstract

An active whisking tactile sensor array has been
successfully integrated with the RatSLAM algorithm and
demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.

Citation

Salman, M., & Pearson, M. (2016, December). Advancing whisker based navigation through the implementation of bio-inspired whisking strategies. Paper presented at IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)

Presentation Conference Type Conference Paper (unpublished)
Conference Name IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)
Start Date Dec 3, 2016
End Date Dec 7, 2016
Acceptance Date Sep 23, 2016
Publication Date Jan 1, 2016
Journal IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Peer Reviewed Peer Reviewed
ISBN 9781509043651
Keywords bio-inspired, whiskers, robots
Publisher URL http://dx.doi.org/10.1109/ROBIO.2016.7866416
Additional Information Title of Conference or Conference Proceedings : IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)